Disocclusion of 3D LiDAR point clouds using range images

Pierre Biasutti 1, 2 Jean-François Aujol 1 Mathieu Brédif 3 Aurélie Bugeau 2
1 IMB - Institut de Mathématiques de Bordeaux
2 LaBRI - Laboratoire Bordelais de Recherche en Informatique
3 IGN - Institut National de l'Information Géographique et Forestière [IGN]
Abstract : This paper proposes a novel framework for the disocclusion of mobile objects in 3D LiDAR scenes aquired via street-based Mobile Mapping Systems (MMS). Most of the existing lines of research tackle this problem directly in the 3D space. This work promotes an alternative approach by using a 2D range image representation of the 3D point cloud, taking advantage of the fact that the problem of disocclusion has been intensively studied in the 2D image processing community over the past decade. First, the point cloud is turned into a 2D range image by exploiting the sensor's topology. Using the range image, a semi-automatic segmentation procedure based on depth histograms is performed in order to select the occluding object to be removed. A variational image inpainting technique is then used to reconstruct the area occluded by that object. Finally, the range image is unprojected as a 3D point cloud. Experiments on real data prove the effectiveness of this procedure both in terms of accuracy and speed.
Keywords : segmentation variational LiDAR Inpainting point cloud disocclusion
Type de document :
Communication dans un congrès
City Models, Roads and Traffic workshop (CMRT), Jun 2017, Hannover, Germany. IV-1/W1, pp.75 - 82, ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (ISPRS Annals). 〈10.5194/isprs-annals-IV-1-W1-75-2017〉
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https://hal.archives-ouvertes.fr/hal-01522366
Contributeur : Pierre Biasutti <>
Soumis le : dimanche 14 mai 2017 - 20:12:35
Dernière modification le : mercredi 10 octobre 2018 - 11:30:06
Document(s) archivé(s) le : mercredi 16 août 2017 - 00:18:49

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UNIV-BORDEAUX | LABRI | IMB

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Pierre Biasutti, Jean-François Aujol, Mathieu Brédif, Aurélie Bugeau. Disocclusion of 3D LiDAR point clouds using range images. City Models, Roads and Traffic workshop (CMRT), Jun 2017, Hannover, Germany. IV-1/W1, pp.75 - 82, ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (ISPRS Annals). 〈10.5194/isprs-annals-IV-1-W1-75-2017〉. 〈hal-01522366〉

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